<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.14.0"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>DM-CtrlH7-BF-DevProgram: C:/Users/ASUS/Desktop/dm-ctrlH7-balance-9025test/modules/algorithm/controller.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<script type="text/javascript" src="clipboard.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript" src="cookie.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr id="projectrow">
  <td id="projectlogo"><img alt="Logo" src="50x5.png"/></td>
  <td id="projectalign">
   <div id="projectname">DM-CtrlH7-BF-DevProgram<span id="projectnumber">&#160;beta 0.1</span>
   </div>
   <div id="projectbrief">C.ONE Studio Damiao Development Board Framework</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.14.0 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search/",'.html');
</script>
<script type="text/javascript">
$(function() { codefold.init(); });
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,false,'search.php','Search',true);
  $(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(function(){initNavTree('controller_8h_source.html','',''); });
</script>
<div id="container">
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>

<div class="header">
  <div class="headertitle"><div class="title">controller.h</div></div>
</div><!--header-->
<div class="contents">
<a href="controller_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#ifndef _CONTROLLER_H</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define _CONTROLLER_H</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &quot;<a class="code" href="main_8h.html">main.h</a>&quot;</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &quot;memory.h&quot;</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &quot;stdlib.h&quot;</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &quot;<a class="code" href="bsp__dwt_8h.html">bsp_dwt.h</a>&quot;</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &quot;arm_math.h&quot;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &lt;math.h&gt;</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#ifndef abs</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#define abs(x) ((x &gt; 0) ? x : -x)</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="comment">// PID 优化环节使能标志位,通过位与可以判断启用的优化环节;也可以改成位域的形式</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>{</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    PID_IMPROVE_NONE = 0b00000000,                <span class="comment">// 0000 0000</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    PID_Integral_Limit = 0b00000001,              <span class="comment">// 0000 0001</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    PID_Derivative_On_Measurement = 0b00000010,   <span class="comment">// 0000 0010</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    PID_Trapezoid_Intergral = 0b00000100,         <span class="comment">// 0000 0100</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    PID_Proportional_On_Measurement = 0b00001000, <span class="comment">// 0000 1000</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    PID_OutputFilter = 0b00010000,                <span class="comment">// 0001 0000</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    PID_ChangingIntegrationRate = 0b00100000,     <span class="comment">// 0010 0000</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    PID_DerivativeFilter = 0b01000000,            <span class="comment">// 0100 0000</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    PID_ErrorHandle = 0b10000000,                 <span class="comment">// 1000 0000</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>} PID_Improvement_e;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="comment">/* PID 报错类型枚举*/</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="keyword">typedef</span> <span class="keyword">enum</span> errorType_e</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>{</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    PID_ERROR_NONE = 0x00U,</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    PID_MOTOR_BLOCKED_ERROR = 0x01U</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>} ErrorType_e;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
<div class="foldopen" id="foldopen00049" data-start="{" data-end="};">
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="struct_p_i_d___error_handler__t.html">   49</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>{</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    uint64_t ERRORCount;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    ErrorType_e ERRORType;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>} <a class="code hl_struct" href="struct_p_i_d___error_handler__t.html">PID_ErrorHandler_t</a>;</div>
</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="comment">/* PID结构体 */</span></div>
<div class="foldopen" id="foldopen00056" data-start="{" data-end="};">
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="struct_p_i_d_instance.html">   56</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>{</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="comment">//---------------------------------- init config block</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// config parameter</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keywordtype">float</span> Kp;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">float</span> Ki;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordtype">float</span> Kd;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordtype">float</span> MaxOut;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordtype">float</span> DeadBand;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="comment">// improve parameter</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    PID_Improvement_e Improve;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordtype">float</span> IntegralLimit;     <span class="comment">// 积分限幅</span></div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordtype">float</span> CoefA;             <span class="comment">// 变速积分 For Changing Integral</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordtype">float</span> CoefB;             <span class="comment">// 变速积分 ITerm = Err*((A-abs(err)+B)/A)  when B&lt;|err|&lt;A+B</span></div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keywordtype">float</span> Output_LPF_RC;     <span class="comment">// 输出滤波器 RC = 1/omegac</span></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">float</span> Derivative_LPF_RC; <span class="comment">// 微分滤波器系数</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="comment">//-----------------------------------</span></div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// for calculating</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">float</span> Measure;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keywordtype">float</span> Last_Measure;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordtype">float</span> Err;</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordtype">float</span> Last_Err;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordtype">float</span> Last_ITerm;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordtype">float</span> Pout;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordtype">float</span> Iout;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="keywordtype">float</span> Dout;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="keywordtype">float</span> ITerm;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keywordtype">float</span> Output;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="keywordtype">float</span> Last_Output;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordtype">float</span> Last_Dout;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keywordtype">float</span> Ref;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    uint32_t DWT_CNT;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="keywordtype">float</span> dt;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <a class="code hl_struct" href="struct_p_i_d___error_handler__t.html">PID_ErrorHandler_t</a> ERRORHandler;</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>} <a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a>;</div>
</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="comment">/* 用于PID初始化的结构体*/</span></div>
<div class="foldopen" id="foldopen00100" data-start="{" data-end="};">
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="struct_p_i_d___init___config__s.html">  100</a></span><span class="keyword">typedef</span> <span class="keyword">struct </span><span class="comment">// config parameter</span></div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>{</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="comment">// basic parameter</span></div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keywordtype">float</span> Kp;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="keywordtype">float</span> Ki;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordtype">float</span> Kd;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    <span class="keywordtype">float</span> MaxOut;   <span class="comment">// 输出限幅</span></div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="keywordtype">float</span> DeadBand; <span class="comment">// 死区</span></div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="comment">// improve parameter</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    PID_Improvement_e Improve;</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keywordtype">float</span> IntegralLimit; <span class="comment">// 积分限幅</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordtype">float</span> CoefA;         <span class="comment">// AB为变速积分参数,变速积分实际上就引入了积分分离</span></div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordtype">float</span> CoefB;         <span class="comment">// ITerm = Err*((A-abs(err)+B)/A)  when B&lt;|err|&lt;A+B</span></div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordtype">float</span> Output_LPF_RC; <span class="comment">// RC = 1/omegac</span></div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="keywordtype">float</span> Derivative_LPF_RC;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>} <a class="code hl_struct" href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a>;</div>
</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="keywordtype">void</span> <a class="code hl_function" href="controller_8h.html#a2f151ba2f498df613fea5f497aeac704">PIDInit</a>(<a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> *pid, <a class="code hl_struct" href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a> *config);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="keywordtype">float</span> <a class="code hl_function" href="controller_8h.html#ac10c96e3f3e94b80d6df66c2c3ac53d0">PIDCalculate</a>(<a class="code hl_struct" href="struct_p_i_d_instance.html">PIDInstance</a> *pid, <span class="keywordtype">float</span> measure, <span class="keywordtype">float</span> ref);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="absp__dwt_8h_html"><div class="ttname"><a href="bsp__dwt_8h.html">bsp_dwt.h</a></div></div>
<div class="ttc" id="acontroller_8h_html_a2f151ba2f498df613fea5f497aeac704"><div class="ttname"><a href="controller_8h.html#a2f151ba2f498df613fea5f497aeac704">PIDInit</a></div><div class="ttdeci">void PIDInit(PIDInstance *pid, PID_Init_Config_s *config)</div><div class="ttdoc">初始化PID实例</div><div class="ttdef"><b>Definition</b> controller.c:128</div></div>
<div class="ttc" id="acontroller_8h_html_ac10c96e3f3e94b80d6df66c2c3ac53d0"><div class="ttname"><a href="controller_8h.html#ac10c96e3f3e94b80d6df66c2c3ac53d0">PIDCalculate</a></div><div class="ttdeci">float PIDCalculate(PIDInstance *pid, float measure, float ref)</div><div class="ttdoc">计算PID输出</div><div class="ttdef"><b>Definition</b> controller.c:147</div></div>
<div class="ttc" id="amain_8h_html"><div class="ttname"><a href="main_8h.html">main.h</a></div><div class="ttdoc">: Header for main.c file. This file contains the common defines of the application.</div></div>
<div class="ttc" id="astruct_p_i_d___error_handler__t_html"><div class="ttname"><a href="struct_p_i_d___error_handler__t.html">PID_ErrorHandler_t</a></div><div class="ttdef"><b>Definition</b> controller.h:50</div></div>
<div class="ttc" id="astruct_p_i_d___init___config__s_html"><div class="ttname"><a href="struct_p_i_d___init___config__s.html">PID_Init_Config_s</a></div><div class="ttdef"><b>Definition</b> controller.h:101</div></div>
<div class="ttc" id="astruct_p_i_d_instance_html"><div class="ttname"><a href="struct_p_i_d_instance.html">PIDInstance</a></div><div class="ttdef"><b>Definition</b> controller.h:57</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
</div><!-- container -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a href="dir_e05d7e2b1ecd646af5bb94391405f3b5.html">modules</a></li><li class="navelem"><a href="dir_7f2cce0340e3bee62fc9457f37cf3f77.html">algorithm</a></li><li class="navelem"><a href="controller_8h.html">controller.h</a></li>
    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.14.0 </li>
  </ul>
</div>
</body>
</html>
